以數位工廠模擬雙機器手臂協作系統之研究

Simulation of Dual-Robot Collaboration System Using Digital Factory

張曜顯(Yao-Hisen Chang)

指導教授 ： 鄭宗明 ； 李正隆

朝陽科技大學/理工學院/工業工程與管理系/碩士(2019年)

摘要

機器手臂是工業4.0智慧製造環境中之重要元素之一，機器手臂主要用於提供製程間之搬運動作與製程中之加工動作，而於傳統生產環境中，此二者皆由操作人員以手動器材為之。若使用機器手臂進行生產則可突破人體之空間限制及思考與腦力之極限，因此可將生產所需之動作依據機器手臂之能力重新規劃。由於人員之雙手具有協作能力，使用機器手臂協同工作時亦須具備此項基礎能力，再加上機器原本之優勢，方可達到使用機構輔助人之價值。本研究中，將從效能評估的角度分析以下三點：機器手臂動作、機器手臂路徑、機器手臂協同，用以探討導入雙機器手臂協同工作之效能。實作中，將建立數位模擬空間，將生產資訊建立於其中，便於即時測試與調整，以及推估效能。本研究將以模擬加工動作為基礎，設置機器手臂、工具機、及工廠模型，於數位工廠軟體中進行虛擬之3D動態模擬，並將其可視化及作最佳化調控，再進行效能評估。

關鍵字

多重機器手臂協同工作 ； 數位化製造 ； 虛擬工廠

並列摘要

Robots are important equipment in the scenario of intelligent manufacturing for they are programmable and can be integrated with other equipment to work synchronously. Robots are good at providing transportations among stations and delivering precise multi-degree-of freedom motions for operations. In the past, such tasks are offered by collaborative human workers with tools. Nowadays, robots may take over and even prevail. Planning collaborated tasks for multiple robots has become a routine work for any process planner. On the other hand, the collaborative operations must be profitable and robust so that the development of the implementations may meet the standard of intelligent manufacturing. In this research, rules for evaluating collaborative robots are established to examine the efficiencies of motion, the path and the collaboration. In practice, the robot working environment is created in a virtual shop floor for synchronous evaluation. Several sample production processes are also created to simulate the mimic performance.

並列關鍵字

Multi-robot Collaboration ； Digital Manufacturing ； Virtual Factory

參考文獻

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